US20110112724A1 - Motor control unit and vehicle steering system - Google Patents
Motor control unit and vehicle steering system Download PDFInfo
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- US20110112724A1 US20110112724A1 US12/945,101 US94510110A US2011112724A1 US 20110112724 A1 US20110112724 A1 US 20110112724A1 US 94510110 A US94510110 A US 94510110A US 2011112724 A1 US2011112724 A1 US 2011112724A1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/30—End effector
- Y10S901/41—Tool
- Y10S901/42—Welding
Definitions
- the invention relates to a motor control unit used to drive a brushless motor, and a vehicle steering system, for example, an electric power steering system, which includes the motor control unit.
- a motor control unit that controls driving of a brushless motor is usually configured to control the electric current that is supplied to a motor based on the output from a rotational angle sensor that detects the rotational angle of a rotor.
- a rotational angle sensor As a rotational angle sensor, a resolver that outputs a sine-wave signal and a cosine-wave signal that correspond to the rotational angle (electrical angle) of a rotor is usually used.
- a resolver is expensive, and needs a large number of wires and a large installation space. Therefore, using a resolver as a rotational angle sensor hinders reduction in cost and size of a unit that includes a brushless motor.
- the induced voltage that is caused due to the rotation of a rotor is estimated in order to estimate the phase of a magnetic pole (electrical angle of the rotor).
- the phase of the magnetic pole is estimated by another method. More specifically, a sensing signal is input in a stator, and a response of the motor to the sensing signal is detected. Then, the rotational position of the rotor is estimated based on the response of the motor.
- JP-A-10-243699 Japanese Patent Application Publication No. 10-243699
- the rotational position of the rotor is estimated based on the induced voltage or the sensing signal, and the motor is controlled based on the estimated rotational position.
- this drive method is not suitable for all uses. There has not been established a method suitable for a control of a brushless motor that is used as a drive source for, for example, a vehicle steering system such as an electric power steering system that supplies a steering assist force to a vehicle steering mechanism. Accordingly, a sensorless control executed by another method has been demanded.
- the invention provides a motor control unit that controls a motor according to a new control method that does not require a rotational angle sensor, and a vehicle steering system that includes the motor control unit.
- a first aspect of the invention relates to a motor control unit that controls a motor that includes a rotor and a stator that faces the rotor.
- the motor control unit includes a current drive unit, an addition angle calculation unit, a control angle calculation unit, a control torque calculation unit, and a command torque setting unit.
- the current drive unit drives the motor based on an axis current value of a rotating coordinate system that rotates in accordance with a control angle that is a rotational angle used in a control.
- the addition angle calculation unit calculates an addition angle that should be added to the control angle.
- the control angle calculation unit obtains a present value of the control angle by adding the addition angle calculated by the addition angle calculation unit to an immediately preceding value of the control angle in predetermined calculation cycles.
- the control torque calculation unit calculates a control torque based on a torque that is other than a motor torque and that is applied to a drive target that is driven by the motor.
- the command torque setting unit sets a command torque that is a torque that is other than the motor torque and that should be applied to the drive target.
- the addition angle calculation unit calculates the addition angle based on the deviation of the control torque calculated by the control torque calculation unit from the command torque set by the command torque setting unit.
- FIG. 1 is a block diagram for describing the electrical configuration of an electric power steering system to which a motor control unit according to an embodiment of the invention is applied;
- FIG. 2 is a view for describing the configuration of a motor
- FIG. 3 is a control block diagram for the electric power steering system
- FIG. 4 is a graph showing an example of the characteristic of the command steering torque with respect to the steering angle
- FIG. 5 is a graph for describing the function of a steering torque limiter
- FIG. 6 is a graph for describing the function of a detected steering torque correction unit
- FIG. 7 is a graph showing an example of a manner of setting the g-axis command current value
- FIG. 8 is a flowchart for describing the function of an addition angle limiter
- FIG. 9 is a graph for describing the function of a detected steering torque correction unit according to another embodiment.
- FIG. 10 is a graph for describing the function of a detected steering torque correction unit according to another embodiment.
- FIG. 1 is a block diagram for describing the electrical configuration of an electric power steering system (an example of a vehicle steering system) to which a motor control unit according to an embodiment of the invention is applied.
- the electric power steering system includes a torque sensor 1 , a motor 3 (brushless motor), a steering angle sensor 4 , a motor control unit 5 , and a vehicle speed sensor 6 .
- the torque sensor 1 detects the steering torque T that is applied to a steering wheel 10 that serves as an operation member used to steer a vehicle.
- the motor 3 (brushless motor) applies a steering assist force to a steering mechanism 2 of the vehicle via a speed reduction mechanism 7 .
- the steering angle sensor 4 detects the steering angle that is the rotational angle of the steering wheel 10 .
- the motor control unit 5 controls driving of the motor 3 .
- the vehicle speed sensor 6 detects the speed of the vehicle in which the electric power steering system is mounted.
- the steering angle sensor 4 detects the amount of rotation (rotational angle) of the steering wheel 10 from the neutral position (reference position) of the steering wheel 10 in the clockwise direction, and the amount of rotation of the steering wheel 10 from the neutral position in the counterclockwise direction.
- the steering angle sensor 4 outputs, as a positive value, the amount of rotation of the steering wheel 10 from the neutral position in the clockwise direction.
- the steering angle sensor outputs, as a negative value, the amount of rotation of the steering wheel 10 from the neutral position in the counterclockwise direction.
- the motor control unit 5 drives the motor 3 based on the steering torque detected by the torque sensor 1 , the steering angle detected by the steering angle sensor 4 , and the vehicle speed detected by the vehicle speed sensor 6 , thereby providing appropriate steering assistance based on the steering state and the vehicle speed.
- the motor 3 is a three-phase brushless motor. As illustrated in FIG. 2 , the motor 3 includes a rotor 50 that serves as a field magnet, and a U-phase stator coil 51 , a V-phase stator coil 52 , and a W-phase stator coil 53 that are arranged on a stator 55 that faces the rotor 50 .
- the motor 3 may be an inner rotor motor in which a stator is arranged on the outer side of a rotor so as to face the rotor, or an outer rotor motor in which a stator is arranged on the inner side of a tubular rotor so as to face the rotor.
- a three-phase fixed coordinate system (UVW coordinate system), where the direction in which the U-phase stator coil 51 extends, the direction in which the V-phase coil 52 extends, and the direction in which the W-phase coil 53 extends are used as the U-axis, the V-axis and W-axis, respectively, is defined.
- a two-phase rotating coordinate system (dq coordinate system: actual rotating coordinate system), where the direction of the magnetic poles of the rotor 50 is used as the d-axis (axis of the magnetic poles) and the direction that is perpendicular to the d-axis within the rotary plane of the rotor 50 is used as the q-axis (torque axis), is defined.
- the dq coordinate system is a rotating coordinate system that rotates together with the rotor 50 .
- the d-axis current may be set to 0 and the q-axis current may be controlled based on a desired torque.
- the rotational angle (rotor angle) ⁇ M of the rotor 50 is a rotational angle of the d-axis with respect to the U-axis.
- the dq coordinate system is an actual rotating coordinate system that rotates in accordance with the rotor angle ⁇ M . With the use of the rotor angle ⁇ M , coordinate conversion may be made between the UVW coordinate system and the dq coordinate system.
- control angle ⁇ C that indicates the rotational angle used in the control is employed.
- the control angle ⁇ C is an imaginary rotational angle with respect to the U-axis.
- An imaginary two-phase rotating coordinate system ( ⁇ coordinate system: hereafter, referred to as “imaginary rotating coordinate system”), where the imaginary axis that forms the control angle ⁇ C with the U-axis is used as the ⁇ -axis, and the axis that is advanced 90 degrees from the ⁇ -axis is used as the ⁇ -axis, is defined.
- the control angle ⁇ C is equal to the rotor angle ⁇ M
- the ⁇ coordinate system which is the imaginary rotating coordinate system
- the dq coordinate system which is the actual rotating coordinate system
- the ⁇ -axis which is the imaginary axis
- the ⁇ -axis which is the imaginary axis
- the ⁇ -axis which is the imaginary axis
- the ⁇ -axis which is the imaginary axis
- the q-axis which is the actual axis.
- the ⁇ coordinate system is an imaginary rotating coordinate system that rotates in accordance with the control angle ⁇ C . Coordinate conversion may be made between the UVW coordinate system and the ⁇ coordinate system with the use of the control angle ⁇ C .
- the ⁇ -axis current I ⁇ When the ⁇ -axis current I ⁇ is supplied to the motor 3 based on the control angle ⁇ C , the q-axis component of the ⁇ -axis current I ⁇ (orthogonal projection to the q-axis) is used as the q-axis current I q that contributes to generation of torque by the rotor 50 . That is, the relationship expressed by Equation 1 is established between the ⁇ -axis current I ⁇ and the q-axis current I q .
- the motor control unit 5 includes a microcomputer 11 , a drive circuit (inverter circuit) 12 that is controlled by the microcomputer 11 and that supplies electric power to the motor 3 , and a current detection unit 13 that detects an electric current that flows through the stator coil of each phase of the motor 3 .
- the current detection unit 13 detects the U-phase current I U , the V-phase current I V and the W-phase current I W that flow through the U-phase stator coil 51 , the V-phase stator coil 52 , and the W-phase stator coil 53 of the motor 3 , respectively, (these phase currents will be collectively referred to as “three-phase detected current I UVW ” where appropriate).
- the U-phase current I U , the V-phase current I V and the W-phase current I W are the current values in the directions of the axes of the UVW coordinate system.
- the microcomputer 11 includes a CPU and memories (a ROM, a RAM, etc.), and serves as multiple function processing units by executing predetermined programs.
- the multiple function processing units include a steering torque limiter 20 , a command steering torque setting unit 21 , a torque deviation calculation unit 22 , a PI (proportional-integral) control unit 23 , an addition angle limiter 24 , a control angle calculation unit 26 , a command current value preparation unit 30 , a current deviation calculation unit 32 , a PI control unit 33 , a ⁇ /UVW conversion unit 34 , a PWM (Pulse Width Modulation) control unit 35 , a UVW/ ⁇ conversion unit 36 , and a detected steering torque correction unit 40 .
- a steering torque limiter 20 a command steering torque setting unit 21 , a torque deviation calculation unit 22 , a PI (proportional-integral) control unit 23 , an addition angle limiter 24 , a control angle calculation unit 26 , a command current value preparation unit 30 , a current deviation calculation unit 32 , a PI control unit 33 , a ⁇ /UVW conversion unit 34 , a
- the command steering torque setting unit 21 sets the command steering torque T* based on the steering angle detected by the steering angle sensor 4 and the vehicle speed detected by the vehicle speed sensor 6 .
- the command steering torque T* when the steering angle is a positive value is set to a positive value (torque applied in the clockwise direction)
- the command steering torque T* when the steering angle is a negative value is set to a negative value (torque applied in the counterclockwise direction).
- the command steering torque T* is set in such a manner that the absolute value of the command steering torque T* increases (non-linearly increases, in the example in FIG.
- the command steering torque T* is set to a value within a range between a predetermined upper limit (positive value (e.g. +6Nm)) and a predetermined lower limit (negative value (e.g. ⁇ 6Nm)).
- the command steering torque T* is set in such a manner that the absolute value of the command steering torque T* decreases as the vehicle speed increases. That is, a vehicle speed-sensitive control is executed.
- the steering torque limiter 20 When the detected steering torque from the torque sensor 1 is equal to or lower than the lower saturation value ⁇ T max , the steering torque limiter 20 outputs the lower saturation value ⁇ T max .
- the saturation values +T max and ⁇ T max define a stable range (reliable range) of the output signal from the torque sensor 1 . That is, in the range where the output from the torque sensor 1 is higher than the upper saturation value +T max and the range where the output from the torque sensor 1 is lower than the lower saturation value ⁇ T max , the output signal from the torque sensor 1 is unstable and does not correspond to the actual steering torque.
- the saturation values +T max and ⁇ T max are determined based on the output characteristic of the torque sensor 1 .
- the steering torque that is detected by the torque sensor 1 and then subjected to the limitation process by the steering torque limiter 20 will be referred to as “detected steering torque T L ”.
- the detected steering torque correction unit 40 is a control torque calculation unit that calculates the control detected steering torque based on the detected steering torque T L obtained by the steering torque limiter 20 . In other words, the detected steering torque correction unit 40 prepares the control detected steering torque (hereinafter, simply referred to as “control torque T”) by correcting the detected steering torque T L . More specifically, when the absolute value
- the detected steering torque correction unit 40 outputs the detected steering torque T L without correction.
- the predetermined value a is set to, for example, a value within a range from 0.3 Nm to 0.5 Nm.
- the control torque T after correction made by the detected steering torque correction unit 40 is expressed by Equation 2.
- the PI control unit 23 executes the PI calculation on the torque deviation ⁇ T. That is, the torque deviation calculation unit 22 and the PI control unit 23 constitute a torque feedback control unit that brings the control torque T to the command steering torque T*.
- the PI control unit 23 calculates the addition angle ⁇ for the control angle ⁇ C by executing the PI calculation on the torque deviation ⁇ T. Therefore, the torque feedback control unit constitutes an addition angle calculation unit that calculates the addition angle ⁇ that should be added to the control angle ⁇ C .
- the addition angle limiter 24 imposes limits on the addition angle ⁇ obtained by the PI control unit 23 . More specifically, the addition angle limiter 24 limits the addition angle ⁇ to a value within a range between a predetermined upper limit UL (positive value) and a predetermined lower limit LL (negative value).
- the preset value of the predetermined limit ⁇ max is determined based on, for example, the maximum steering angular speed.
- the maximum steering angular speed is the maximum assumable value of the steering angular speed of the steering wheel 10 , and, for example, approximately 800 deg/sec.
- the rate of change in the electrical angle of the rotor 50 (angular speed in the electrical angle: maximum rotor angular speed) at the maximum steering angular speed is expressed by the product of the maximum steering angular speed, the speed reduction ratio of the speed reduction mechanism 7 , and the number of pole pairs of the rotor 50 , as indicated by Equation 3.
- the number of pole pairs is the number of magnetic pole pairs (pair of north pole and south pole) of the rotor 50 .
- the maximum value of the amount of change in the electrical angle of the rotor 50 between the calculations (in the calculation cycle) of the control angle ⁇ C is expressed by the value obtained by multiplying the maximum rotor angular speed by the calculation cycle, as indicated by Equation 4.
- This maximum value of the amount of change in the rotor angle is the maximum amount of change in the control angle ⁇ C that is permitted within one calculation cycle. Therefore, the maximum value of the amount of change in the rotor angle may be used as the preset value of the limit ⁇ max .
- the limit ⁇ max the upper limit UL and the lower limit LL for the addition angle ⁇ are expressed by Equation 5 and Equation 6, respectively.
- the addition angle ⁇ obtained after the above-described limitation process executed by the addition angle limiter 24 is added to the immediately preceding value ⁇ C (n ⁇ 1) (n is the number of the present calculation cycle) of the control angle ⁇ C by an addition unit 26 A of the control angle calculation unit 26 (“Z ⁇ 1 ” in the drawings indicates the immediately preceding value indicated by a signal).
- the initial value of the control angle ⁇ C is a predetermined value (e.g. 0).
- the control angle calculation unit 26 includes the addition unit 26 A that adds the addition angle ⁇ provided from the addition angle limiter 24 to the immediately preceding value ⁇ C (n ⁇ 1) of the control angle ⁇ C . That is, the control angle calculation unit 26 calculates the control angle ⁇ C in predetermined calculation cycles. The control angle calculation unit 26 uses the control angle ⁇ C in the immediately preceding calculation cycle as the immediately preceding value ⁇ C (n ⁇ 1), and obtains the present value ⁇ C (n) that is the control angle ⁇ C in the present calculation cycle based on the immediately preceding value ⁇ C (n ⁇ 1).
- the command current value preparation unit 30 prepares, as command current values, values of electric currents that should be supplied to the coordinate axes (imaginary axes) of the ⁇ coordinate system, which is the imaginary rotating coordinate system that corresponds to the control angle ⁇ C that is a rotational angle used in the control. More specifically, the command current value preparation unit 30 prepares the ⁇ -axis command current value I ⁇ * and the ⁇ -axis command current value I ⁇ * (hereinafter, these values will be collectively referred to as “two-phase command current value I ⁇ *” where appropriate). The command current value preparation unit 30 sets the ⁇ -axis command current value I ⁇ * to a significant value, and sets the ⁇ -axis command current value I ⁇ * to 0. More specifically, the command current value preparation unit 30 sets the ⁇ -axis command current value I ⁇ * based on the detected steering torque T L that is detected by the torque sensor 1 and then subjected to the limitation process executed by the steering torque limiter 20 .
- FIG. 7 shows an example of a manner of setting the ⁇ -axis command current value I ⁇ * with respect to the detected steering torque T L .
- the ⁇ -axis command current value I ⁇ * is set to a low value within a range L where the detected steering torque T L is near 0.
- the ⁇ -axis command current value I ⁇ * rises sharply in the region outside the range L where the detected steering torque T L is near 0, and is maintained substantially constant in the region where the torque is at or higher than a predetermined value.
- the ⁇ -axis command current value I ⁇ * is reduced to suppress unnecessary electric power consumption.
- the ⁇ -axis detected current I ⁇ and the ⁇ -axis detected current I ⁇ are provided from the UVW/ ⁇ conversion unit 36 to the deviation calculation unit 32 .
- the UVW/ ⁇ conversion unit 36 converts the three-phase detected current I UVW (U-phase detected current I U , V-phase detected current I V , and the W-phase detected current I W ) of the UVW coordinate system, which is detected by the current detection unit 13 , into the two-phase detected currents I ⁇ and I ⁇ of the ⁇ coordinate system (hereinafter, these phase currents will be collectively referred to as “two-phase detected current I ⁇ ” where appropriate). These two-phase detected currents I ⁇ and I ⁇ are provided to the current deviation calculation unit 32 .
- the control angle ⁇ C calculated by the control angle calculation unit 26 is used for the coordinate conversion that is executed by the UVW/ ⁇ conversion unit 36 .
- the PI control unit 33 executes the PI calculation on the current deviation calculated by the current deviation calculation unit 32 to prepare the two-phase command voltage V ⁇ *(the ⁇ -axis command voltage V ⁇ * and the ⁇ -axis command voltage V ⁇ *) that should be applied to the motor 3 .
- the two-phase command voltage V ⁇ * is provided to the ⁇ /UVW conversion unit 34 .
- the ⁇ /UVW conversion unit 34 executes the coordinate conversion calculation on the two-phase command voltage V ⁇ * to prepare the three-phase command voltage V UVW *.
- the three-phase command voltage V UVW * is formed of the U-phase command voltage V U *, the V-phase command voltage V V * and the W-phase command voltage V W *.
- the three-phase command voltage V UVW * is provided to the PWM control unit 35 .
- the PWM control unit 35 prepares the U-phase PWM control signal, the V-phase PWM control signal and the W-phase PWM control signal having duty ratios that correspond to the U-phase command voltage V U *, the V-phase command voltage V V * and the W-phase command voltage V W *, respectively, and provides the control signals to the drive circuit 12 .
- the drive circuit 12 is formed of an inverter circuit having three phases that correspond to the U-phase, the V-phase and the W-phase.
- the power elements that constitute the inverter circuit are controlled based on the PWM control signals provided from the PWM control unit 35 , and therefore the voltages that correspond to the three-phase command voltage V UVW * are applied to the U-phase stator coil 51 , the V-phase stator coil 52 and the W-phase stator coil 53 of the motor 3 .
- the current deviation calculation unit 32 and the PI control unit 33 constitute a current feedback control unit.
- the current feedback control unit controls the electric current that is supplied to the motor 3 in such a manner that the electric current that is supplied to the motor 3 approaches the two-phase command current value I ⁇ * that is set by the command current value preparation unit 30 .
- FIG. 3 is a control block diagram of the electric power steering system. Note that the function of the addition angle limiter 24 is omitted to simplify the explanation.
- the addition angle ⁇ is prepared.
- the q-axis current I q contributes to generation of torque by the rotor 50 .
- the value obtained by subtracting the assist torque T A from a load torque from the steering mechanism 2 is the steering torque that should be applied by the driver to the steering wheel 10 .
- the control angle ⁇ C is updated with the use of the addition angle ⁇ that is obtained based on the deviation ⁇ T of the control torque T from the command steering torque T* while an electric current is supplied to the ⁇ -axis that is the imaginary axis used in the control.
- the load angle ⁇ L changes and therefore, the torque that corresponds to the load angle ⁇ L is generated by the motor 3 . Therefore, the torque that corresponds to the command steering torque T* set based on the steering angle and the vehicle speed is generated by the motor 3 . Accordingly, an appropriate steering assist force that corresponds to the steering angle and the vehicle speed is applied to the steering mechanism 2 . That is, a steering assist control is executed in such a manner that the steering torque increases as the absolute value of the steering angle increases and the steering torque decreases as the vehicle speed increases.
- FIG. 8 is a flowchart for describing the function of the addition angle limiter 24 .
- the addition angle limiter 24 compares the addition angle ⁇ obtained by the PI control unit 23 with the upper limit UL (step (hereinafter, referred to as “S”) 1 ).
- S upper limit UL
- the upper limit UL is substituted for the addition angle ⁇ (S 2 ).
- the addition angle limiter 24 limits the addition angle ⁇ to a value within the range between the upper limit UL and the lower limit LL so as to stabilize the control. More specifically, although the control state is unstable (assist force is unstable) when the electric current is low or when the control starts, the control is encouraged to move to the stable state.
- the detected steering torque correction unit 40 is provided.
- the detected steering torque correction unit 40 corrects the detected steering torque to 0.
- the detected steering torque correction unit 40 outputs the detected steering torque T L without correction. If the detected steering torque correction unit 40 is not provided, the following problem may occur.
- the steering wheel 10 is in the neutral position, the detected steering angle detected by the steering angle sensor 4 becomes 0. Therefore, the command steering torque T* set by the command steering torque setting unit 21 becomes 0 Nm as shown in FIG.
- the detected steering torque correction unit 40 when the detected steering torque correction unit 40 is not provided, if the driver takes his/her hands off the steering wheel 10 when the steering wheel 10 is in a position near the neutral position, self-steering may be performed, that is, the steered wheels may be steered by the steering mechanism 2 .
- the driver takes his/her hands off the steering wheel 10 when the steering wheel 10 is in a position near the neutral position even if the detected steering torque detected by the torque sensor 1 does not become 0 Nm, the detected steering torque detected by the torque sensor 1 is corrected to 0 Nm by the detected steering torque correction unit 40 .
- the torque deviation ⁇ T calculated by the torque deviation calculation unit 22 becomes 0, and therefore, the control angle ⁇ C does not change. According to the embodiment described above, it is possible to prevent occurrence of self-steering when the driver takes his/her hands off the steering wheel 10 when the steering wheel 10 is in a position near the neutral position.
- the detected steering torque correction unit 40 when the detected steering torque T L output from the torque limiter 20 changes so as to exceed the predetermined value a or changes so as to fall below the predetermined value ⁇ a, the control torque T output from the detected steering torque correction unit 40 changes sharply, as shown in FIG. 6 . Then, the steering torque also changes sharply, which may deteriorate the steering feel. Therefore, a unit that has the input-output characteristics as shown in FIG. 9 may be used as the detected steering torque correction unit 40 . More specifically, when the absolute value
- the detected steering torque correction unit 40 corrects the detected steering torque T L in such a manner that the output value T smoothly increases (linearly changes in an example in FIG. 9 ) from a value near 0 as the detected steering torque T L becomes higher than the predetermined value a by a larger amount.
- the detected steering torque correction unit 40 outputs the detected steering torque T L without correction.
- the detected steering torque correction unit 40 corrects the detected steering torque T L in such a manner that the output value T smoothly decreases from a value near 0 (linearly changes in the example in FIG. 9 ) as the detected steering torque T L becomes lower than the predetermined value ⁇ a by a larger amount.
- the detected steering torque correction unit 40 outputs the detected steering torque T L without correction.
- the first predetermined value a is set to, for example, a value within a range from 0.3 Nm to 0.5 Nm.
- the second predetermined value b is set to, for example, a value that is equal to or lower than the maximum torque that can be detected by the torque sensor 1 (the maximum torque immediately before the output from the torque sensor 1 is saturated). More specifically, the second predetermined value b is set to a value equal to or lower than the above-described upper limit saturation value +T max (see FIG. 5 ).
- the detected steering torque correction unit 40 calculates the control torque T based on Equations 7-1 to 7-5. Note that, when the second predetermined value b is set to a value equal to the upper limited saturation value, correction based on Equations 7-3 to 7-5 is not required.
- a map that corresponds to the input-output characteristics as shown in FIG. 9 is prepared in advance according to Equations 7-1 to 7-5.
- the detected steering torque correction unit 40 corrects the detected steering torque based on the map. If the detected steering torque correction unit 40 is used, even if the detected steering torque T L output from the torque limiter 20 changes so as to exceed the predetermined value a or changes so as to fall below the predetermined value ⁇ a, the control torque T calculated by the detected steering torque correction unit 40 smoothly changes. Therefore, the steering feel improves.
- the map is formed of functions that are continuous with each other at each point at which the absolute value of the detected steering torque T L is equal to the second predetermined value b.
- the map may be formed of functions that are not continuous with each other at each point at which the absolute value of the detected steering torque T L is equal to the second predetermined value b.
- the input-output characteristics of the detected steering torque correction unit 40 changes in such a manner that the absolute value of the control torque T smoothly and linearly increases from a value near 0 as the absolute value of the detected steering torque T L increases.
- the input-output characteristics of the detected steering torque correction unit 40 may change in such a manner that the absolute value of the control torque T smoothly and non-linearly increases from a value near 0 as the absolute value of the detected steering torque T L increases.
- the addition angle ⁇ is obtained by the PI control unit 23 .
- the addition angle ⁇ may be obtained by a PID (proportional-integral-differential) calculation unit instead of the PI control unit 23 .
- a rotational angle sensor is not provided and the motor 3 is driven by executing the sensorless control.
- a rotational angle sensor for example, a resolver may be provided and the above-described sensorless control may be executed when the rotational angle sensor malfunctions. Thus, even if the rotational angle sensor malfunctions, driving of the motor 3 is continued. Therefore, the steering assist operation is continued.
- the ⁇ -axis command current value I ⁇ * may be prepared by the command current value preparation unit 30 based on the steering torque and the vehicle speed and according to the predetermined assist characteristics.
- the invention is applied to the electric power steering system.
- the invention may be applied to a motor control for an electric pump hydraulic power steering system.
- the invention may be implemented in various embodiments other than a control of a motor for an electric pump hydraulic power steering system and a power steering system.
- the invention may be applied to a steer-by-wire (SBW) system, a variable gear ratio (VGR) steering system, and a control of a brushless motor provided in another type of vehicle steering system.
- the motor control unit according to the invention may be used in not only a control for the vehicle steering system but also controls for motors for other use.
Abstract
Description
- The disclosure of Japanese Patent Application No. 2009-258962 filed on Nov. 12, 2009 including the specification, drawings and abstract is incorporated herein by reference in its entirety.
- 1. Field of the Invention
- The invention relates to a motor control unit used to drive a brushless motor, and a vehicle steering system, for example, an electric power steering system, which includes the motor control unit.
- 2. Description of the Related Art
- A motor control unit that controls driving of a brushless motor is usually configured to control the electric current that is supplied to a motor based on the output from a rotational angle sensor that detects the rotational angle of a rotor. As a rotational angle sensor, a resolver that outputs a sine-wave signal and a cosine-wave signal that correspond to the rotational angle (electrical angle) of a rotor is usually used. However, a resolver is expensive, and needs a large number of wires and a large installation space. Therefore, using a resolver as a rotational angle sensor hinders reduction in cost and size of a unit that includes a brushless motor.
- To address this problem, a sensorless drive method for driving a brushless motor without using a rotational angle sensor has been proposed. According to the sensorless drive method, the induced voltage that is caused due to the rotation of a rotor is estimated in order to estimate the phase of a magnetic pole (electrical angle of the rotor). When the rotor is at a standstill or rotating at a considerably low speed, it is not possible to estimate the phase of the magnetic pole. Therefore, the phase of the magnetic pole is estimated by another method. More specifically, a sensing signal is input in a stator, and a response of the motor to the sensing signal is detected. Then, the rotational position of the rotor is estimated based on the response of the motor.
- For example, Japanese Patent Application Publication No. 10-243699 (JP-A-10-243699) describes the related art.
- According to the sensorless drive method described above, the rotational position of the rotor is estimated based on the induced voltage or the sensing signal, and the motor is controlled based on the estimated rotational position. However, this drive method is not suitable for all uses. There has not been established a method suitable for a control of a brushless motor that is used as a drive source for, for example, a vehicle steering system such as an electric power steering system that supplies a steering assist force to a vehicle steering mechanism. Accordingly, a sensorless control executed by another method has been demanded.
- The invention provides a motor control unit that controls a motor according to a new control method that does not require a rotational angle sensor, and a vehicle steering system that includes the motor control unit.
- A first aspect of the invention relates to a motor control unit that controls a motor that includes a rotor and a stator that faces the rotor. The motor control unit includes a current drive unit, an addition angle calculation unit, a control angle calculation unit, a control torque calculation unit, and a command torque setting unit. The current drive unit drives the motor based on an axis current value of a rotating coordinate system that rotates in accordance with a control angle that is a rotational angle used in a control. The addition angle calculation unit calculates an addition angle that should be added to the control angle. The control angle calculation unit obtains a present value of the control angle by adding the addition angle calculated by the addition angle calculation unit to an immediately preceding value of the control angle in predetermined calculation cycles. The control torque calculation unit calculates a control torque based on a torque that is other than a motor torque and that is applied to a drive target that is driven by the motor. The command torque setting unit sets a command torque that is a torque that is other than the motor torque and that should be applied to the drive target. The addition angle calculation unit calculates the addition angle based on the deviation of the control torque calculated by the control torque calculation unit from the command torque set by the command torque setting unit.
- The foregoing and further objects, features and advantages of the invention will become apparent from the following description of example embodiments with reference to the accompanying drawings, wherein like numerals are used to represent like elements and wherein:
-
FIG. 1 is a block diagram for describing the electrical configuration of an electric power steering system to which a motor control unit according to an embodiment of the invention is applied; -
FIG. 2 is a view for describing the configuration of a motor; -
FIG. 3 is a control block diagram for the electric power steering system; -
FIG. 4 is a graph showing an example of the characteristic of the command steering torque with respect to the steering angle; -
FIG. 5 is a graph for describing the function of a steering torque limiter; -
FIG. 6 is a graph for describing the function of a detected steering torque correction unit; -
FIG. 7 is a graph showing an example of a manner of setting the g-axis command current value; -
FIG. 8 is a flowchart for describing the function of an addition angle limiter; -
FIG. 9 is a graph for describing the function of a detected steering torque correction unit according to another embodiment; and -
FIG. 10 is a graph for describing the function of a detected steering torque correction unit according to another embodiment. - Hereafter, example embodiments of the invention will be described in detail with reference to the accompanying drawings.
FIG. 1 is a block diagram for describing the electrical configuration of an electric power steering system (an example of a vehicle steering system) to which a motor control unit according to an embodiment of the invention is applied. The electric power steering system includes atorque sensor 1, a motor 3 (brushless motor), asteering angle sensor 4, amotor control unit 5, and avehicle speed sensor 6. Thetorque sensor 1 detects the steering torque T that is applied to asteering wheel 10 that serves as an operation member used to steer a vehicle. The motor 3 (brushless motor) applies a steering assist force to asteering mechanism 2 of the vehicle via aspeed reduction mechanism 7. Thesteering angle sensor 4 detects the steering angle that is the rotational angle of thesteering wheel 10. Themotor control unit 5 controls driving of themotor 3. Thevehicle speed sensor 6 detects the speed of the vehicle in which the electric power steering system is mounted. Thesteering angle sensor 4 detects the amount of rotation (rotational angle) of thesteering wheel 10 from the neutral position (reference position) of thesteering wheel 10 in the clockwise direction, and the amount of rotation of thesteering wheel 10 from the neutral position in the counterclockwise direction. Thesteering angle sensor 4 outputs, as a positive value, the amount of rotation of thesteering wheel 10 from the neutral position in the clockwise direction. The steering angle sensor outputs, as a negative value, the amount of rotation of thesteering wheel 10 from the neutral position in the counterclockwise direction. - The
motor control unit 5 drives themotor 3 based on the steering torque detected by thetorque sensor 1, the steering angle detected by thesteering angle sensor 4, and the vehicle speed detected by thevehicle speed sensor 6, thereby providing appropriate steering assistance based on the steering state and the vehicle speed. - In the embodiment, the
motor 3 is a three-phase brushless motor. As illustrated inFIG. 2 , themotor 3 includes arotor 50 that serves as a field magnet, and aU-phase stator coil 51, a V-phase stator coil 52, and a W-phase stator coil 53 that are arranged on astator 55 that faces therotor 50. Themotor 3 may be an inner rotor motor in which a stator is arranged on the outer side of a rotor so as to face the rotor, or an outer rotor motor in which a stator is arranged on the inner side of a tubular rotor so as to face the rotor. - A three-phase fixed coordinate system (UVW coordinate system), where the direction in which the
U-phase stator coil 51 extends, the direction in which the V-phase coil 52 extends, and the direction in which the W-phase coil 53 extends are used as the U-axis, the V-axis and W-axis, respectively, is defined. In addition, a two-phase rotating coordinate system (dq coordinate system: actual rotating coordinate system), where the direction of the magnetic poles of therotor 50 is used as the d-axis (axis of the magnetic poles) and the direction that is perpendicular to the d-axis within the rotary plane of therotor 50 is used as the q-axis (torque axis), is defined. The dq coordinate system is a rotating coordinate system that rotates together with therotor 50. In the dq coordinate system, only the q-axis current contributes to generation of torque by therotor 50. Therefore, the d-axis current may be set to 0 and the q-axis current may be controlled based on a desired torque. The rotational angle (rotor angle) θM of therotor 50 is a rotational angle of the d-axis with respect to the U-axis. The dq coordinate system is an actual rotating coordinate system that rotates in accordance with the rotor angle θM. With the use of the rotor angle θM, coordinate conversion may be made between the UVW coordinate system and the dq coordinate system. - In the embodiment, the control angle θC that indicates the rotational angle used in the control is employed. The control angle θC is an imaginary rotational angle with respect to the U-axis. An imaginary two-phase rotating coordinate system (γδ coordinate system: hereafter, referred to as “imaginary rotating coordinate system”), where the imaginary axis that forms the control angle θC with the U-axis is used as the γ-axis, and the axis that is advanced 90 degrees from the γ-axis is used as the δ-axis, is defined. When the control angle θC is equal to the rotor angle θM, the γδ coordinate system, which is the imaginary rotating coordinate system, and the dq coordinate system, which is the actual rotating coordinate system, coincide with each other. That is, the γ-axis, which is the imaginary axis, coincides with the d-axis, which is the actual axis, and the δ-axis, which is the imaginary axis, coincides with the q-axis, which is the actual axis. The γδ coordinate system is an imaginary rotating coordinate system that rotates in accordance with the control angle θC. Coordinate conversion may be made between the UVW coordinate system and the γδ coordinate system with the use of the control angle θC.
- The load angle θL (=θC−θM) is defined based on the difference between the control angle θC and the rotor angle θM. When the γ-axis current Iγ is supplied to the
motor 3 based on the control angle θC, the q-axis component of the γ-axis current Iγ (orthogonal projection to the q-axis) is used as the q-axis current Iq that contributes to generation of torque by therotor 50. That is, the relationship expressed byEquation 1 is established between the γ-axis current Iγ and the q-axis current Iq. -
I q =I γ×sin θLEquation 1 - Referring again to
FIG. 1 , themotor control unit 5 includes amicrocomputer 11, a drive circuit (inverter circuit) 12 that is controlled by themicrocomputer 11 and that supplies electric power to themotor 3, and acurrent detection unit 13 that detects an electric current that flows through the stator coil of each phase of themotor 3. - The
current detection unit 13 detects the U-phase current IU, the V-phase current IV and the W-phase current IW that flow through theU-phase stator coil 51, the V-phase stator coil 52, and the W-phase stator coil 53 of themotor 3, respectively, (these phase currents will be collectively referred to as “three-phase detected current IUVW” where appropriate). The U-phase current IU, the V-phase current IV and the W-phase current IW are the current values in the directions of the axes of the UVW coordinate system. Themicrocomputer 11 includes a CPU and memories (a ROM, a RAM, etc.), and serves as multiple function processing units by executing predetermined programs. The multiple function processing units include asteering torque limiter 20, a command steeringtorque setting unit 21, a torquedeviation calculation unit 22, a PI (proportional-integral)control unit 23, anaddition angle limiter 24, a controlangle calculation unit 26, a command currentvalue preparation unit 30, a currentdeviation calculation unit 32, aPI control unit 33, a γδ/UVW conversion unit 34, a PWM (Pulse Width Modulation)control unit 35, a UVW/γδ conversion unit 36, and a detected steeringtorque correction unit 40. - The command steering
torque setting unit 21 sets the command steering torque T* based on the steering angle detected by thesteering angle sensor 4 and the vehicle speed detected by thevehicle speed sensor 6. For example, as shown inFIG. 4 , the command steering torque T* when the steering angle is a positive value (when thesteering wheel 10 is operated clockwise) is set to a positive value (torque applied in the clockwise direction), whereas the command steering torque T* when the steering angle is a negative value (when thesteering wheel 10 is operated counterclockwise) is set to a negative value (torque applied in the counterclockwise direction). The command steering torque T* is set in such a manner that the absolute value of the command steering torque T* increases (non-linearly increases, in the example inFIG. 4 ) as the absolute value of the steering angle increases. However, the command steering torque T* is set to a value within a range between a predetermined upper limit (positive value (e.g. +6Nm)) and a predetermined lower limit (negative value (e.g. −6Nm)). In addition, the command steering torque T* is set in such a manner that the absolute value of the command steering torque T* decreases as the vehicle speed increases. That is, a vehicle speed-sensitive control is executed. - The
steering torque limiter 20 limits the output from thetorque sensor 1 within a range between a predetermined upper saturation value +Tmax (+Tmax>0 (e.g. +Tmax=7 Nm)) and a predetermined lower saturation value −Tmax (−Tmax<0 (e.g. −Tmax=−7 Nm)). More specifically, as shown inFIG. 5 , when the output from thetorque sensor 1 is within the range between the upper saturation value +Tmax and the lower saturation value −Tmax, thesteering torque limiter 20 outputs the detected steering torque that is the value output from thetorque sensor 1 without limitation. When the detected steering torque from thetorque sensor 1 is equal to or higher than the upper saturation value +Tmax, thesteering torque limiter 20 outputs the upper saturation value +Tmax. When the detected steering torque from thetorque sensor 1 is equal to or lower than the lower saturation value −Tmax, thesteering torque limiter 20 outputs the lower saturation value −Tmax. The saturation values +Tmax and −Tmax define a stable range (reliable range) of the output signal from thetorque sensor 1. That is, in the range where the output from thetorque sensor 1 is higher than the upper saturation value +Tmax and the range where the output from thetorque sensor 1 is lower than the lower saturation value −Tmax, the output signal from thetorque sensor 1 is unstable and does not correspond to the actual steering torque. In other words, the saturation values +Tmax and −Tmax are determined based on the output characteristic of thetorque sensor 1. Hereafter, the steering torque that is detected by thetorque sensor 1 and then subjected to the limitation process by thesteering torque limiter 20 will be referred to as “detected steering torque TL”. - The detected steering
torque correction unit 40 is a control torque calculation unit that calculates the control detected steering torque based on the detected steering torque TL obtained by thesteering torque limiter 20. In other words, the detected steeringtorque correction unit 40 prepares the control detected steering torque (hereinafter, simply referred to as “control torque T”) by correcting the detected steering torque TL. More specifically, when the absolute value |TL| of the detected steering torque TL is equal to or smaller than the predetermined value a (a>0) (|TL|≦a), the detected steeringtorque correction unit 40 corrects the detected steering torque to 0, as shown inFIG. 6 . On the other hand, when the absolute value |TL| of the detected steering torque TL is larger than the predetermined value a (|TL|>a), the detected steeringtorque correction unit 40 outputs the detected steering torque TL without correction. The predetermined value a is set to, for example, a value within a range from 0.3 Nm to 0.5 Nm. The control torque T after correction made by the detected steeringtorque correction unit 40 is expressed byEquation 2. -
If |T L |≦a, T=0 -
If |T L |>a, T=T L Equation 2 - The torque
deviation calculation unit 22 obtains the deviation (torque deviation) ΔT (=T*−T) of the control torque T, which is detected by thetorque sensor 1 and then subjected to the limitation process executed by thetorque limiter 20 and the correction executed by the detected steeringtorque correction unit 40, from the command steering torque T* that is set by the command steeringtorque setting unit 21. ThePI control unit 23 executes the PI calculation on the torque deviation ΔT. That is, the torquedeviation calculation unit 22 and thePI control unit 23 constitute a torque feedback control unit that brings the control torque T to the command steering torque T*. ThePI control unit 23 calculates the addition angle α for the control angle θC by executing the PI calculation on the torque deviation ΔT. Therefore, the torque feedback control unit constitutes an addition angle calculation unit that calculates the addition angle α that should be added to the control angle θC. - The
addition angle limiter 24 imposes limits on the addition angle α obtained by thePI control unit 23. More specifically, theaddition angle limiter 24 limits the addition angle α to a value within a range between a predetermined upper limit UL (positive value) and a predetermined lower limit LL (negative value). The upper limit UL and the lower limit LL are determined based on a predetermined limit ωmax (ωmax>0: e.g. preset value of ωmax=45 degrees). The preset value of the predetermined limit ωmax is determined based on, for example, the maximum steering angular speed. The maximum steering angular speed is the maximum assumable value of the steering angular speed of thesteering wheel 10, and, for example, approximately 800 deg/sec. - The rate of change in the electrical angle of the rotor 50 (angular speed in the electrical angle: maximum rotor angular speed) at the maximum steering angular speed is expressed by the product of the maximum steering angular speed, the speed reduction ratio of the
speed reduction mechanism 7, and the number of pole pairs of therotor 50, as indicated byEquation 3. The number of pole pairs is the number of magnetic pole pairs (pair of north pole and south pole) of therotor 50. -
Maximum rotor angular speed=maximum steering angular speed×speed reduction ratio×number ofpole pairs Equation 3 - The maximum value of the amount of change in the electrical angle of the
rotor 50 between the calculations (in the calculation cycle) of the control angle θC is expressed by the value obtained by multiplying the maximum rotor angular speed by the calculation cycle, as indicated byEquation 4. -
Maximum value of amount of change in rotor angle=maximum rotor angular speed×calculation cycle=maximum steering angular speed×speed reduction ratio×number of pole pairs×calculation cycle Equation 4 - This maximum value of the amount of change in the rotor angle is the maximum amount of change in the control angle θC that is permitted within one calculation cycle. Therefore, the maximum value of the amount of change in the rotor angle may be used as the preset value of the limit ωmax. With the use of the limit ωmax, the upper limit UL and the lower limit LL for the addition angle α are expressed by
Equation 5 andEquation 6, respectively. -
UL=+ωmax Equation 5 -
LL=−ωmax Equation 6 - The addition angle α obtained after the above-described limitation process executed by the
addition angle limiter 24 is added to the immediately preceding value θC(n−1) (n is the number of the present calculation cycle) of the control angle θC by anaddition unit 26A of the control angle calculation unit 26 (“Z−1” in the drawings indicates the immediately preceding value indicated by a signal). Note that, the initial value of the control angle θC is a predetermined value (e.g. 0). - The control
angle calculation unit 26 includes theaddition unit 26A that adds the addition angle α provided from theaddition angle limiter 24 to the immediately preceding value θC(n−1) of the control angle θC. That is, the controlangle calculation unit 26 calculates the control angle θC in predetermined calculation cycles. The controlangle calculation unit 26 uses the control angle θC in the immediately preceding calculation cycle as the immediately preceding value θC(n−1), and obtains the present value θC(n) that is the control angle θC in the present calculation cycle based on the immediately preceding value θC(n−1). The command currentvalue preparation unit 30 prepares, as command current values, values of electric currents that should be supplied to the coordinate axes (imaginary axes) of the γδ coordinate system, which is the imaginary rotating coordinate system that corresponds to the control angle θC that is a rotational angle used in the control. More specifically, the command currentvalue preparation unit 30 prepares the γ-axis command current value Iγ* and the δ-axis command current value Iδ* (hereinafter, these values will be collectively referred to as “two-phase command current value Iγδ*” where appropriate). The command currentvalue preparation unit 30 sets the γ-axis command current value Iγ* to a significant value, and sets the δ-axis command current value Iδ* to 0. More specifically, the command currentvalue preparation unit 30 sets the γ-axis command current value Iγ* based on the detected steering torque TL that is detected by thetorque sensor 1 and then subjected to the limitation process executed by thesteering torque limiter 20. -
FIG. 7 shows an example of a manner of setting the γ-axis command current value Iγ* with respect to the detected steering torque TL. The γ-axis command current value Iγ* is set to a low value within a range L where the detected steering torque TL is near 0. The γ-axis command current value Iγ* rises sharply in the region outside the range L where the detected steering torque TL is near 0, and is maintained substantially constant in the region where the torque is at or higher than a predetermined value. Thus, when the driver does not operate thesteering wheel 10, the γ-axis command current value Iγ* is reduced to suppress unnecessary electric power consumption. - The current
deviation calculation unit 32 calculates the deviation Iγ*−Iγ of the γ-axis detected current Iγ from the γ-axis command current value Iγ* prepared by the command currentvalue preparation unit 30, and the deviation Iδ*−Iδ of the δ-axis detected current Iδ from the δ-axis command current value Iδ*(=0). The γ-axis detected current Iγ and the δ-axis detected current Iδ are provided from the UVW/γδ conversion unit 36 to thedeviation calculation unit 32. - The UVW/
γδ conversion unit 36 converts the three-phase detected current IUVW (U-phase detected current IU, V-phase detected current IV, and the W-phase detected current IW) of the UVW coordinate system, which is detected by thecurrent detection unit 13, into the two-phase detected currents Iγ and Iδ of the γδ coordinate system (hereinafter, these phase currents will be collectively referred to as “two-phase detected current Iγδ” where appropriate). These two-phase detected currents Iγ and Iδ are provided to the currentdeviation calculation unit 32. The control angle θC calculated by the controlangle calculation unit 26 is used for the coordinate conversion that is executed by the UVW/γδ conversion unit 36. - The
PI control unit 33 executes the PI calculation on the current deviation calculated by the currentdeviation calculation unit 32 to prepare the two-phase command voltage Vγδ*(the γ-axis command voltage Vγ* and the δ-axis command voltage Vδ*) that should be applied to themotor 3. The two-phase command voltage Vγδ* is provided to the γδ/UVW conversion unit 34. The γδ/UVW conversion unit 34 executes the coordinate conversion calculation on the two-phase command voltage Vγδ* to prepare the three-phase command voltage VUVW*. The three-phase command voltage VUVW* is formed of the U-phase command voltage VU*, the V-phase command voltage VV* and the W-phase command voltage VW*. The three-phase command voltage VUVW* is provided to thePWM control unit 35. - The
PWM control unit 35 prepares the U-phase PWM control signal, the V-phase PWM control signal and the W-phase PWM control signal having duty ratios that correspond to the U-phase command voltage VU*, the V-phase command voltage VV* and the W-phase command voltage VW*, respectively, and provides the control signals to thedrive circuit 12. Thedrive circuit 12 is formed of an inverter circuit having three phases that correspond to the U-phase, the V-phase and the W-phase. The power elements that constitute the inverter circuit are controlled based on the PWM control signals provided from thePWM control unit 35, and therefore the voltages that correspond to the three-phase command voltage VUVW* are applied to theU-phase stator coil 51, the V-phase stator coil 52 and the W-phase stator coil 53 of themotor 3. - The current
deviation calculation unit 32 and thePI control unit 33 constitute a current feedback control unit. The current feedback control unit controls the electric current that is supplied to themotor 3 in such a manner that the electric current that is supplied to themotor 3 approaches the two-phase command current value Iγδ* that is set by the command currentvalue preparation unit 30.FIG. 3 is a control block diagram of the electric power steering system. Note that the function of theaddition angle limiter 24 is omitted to simplify the explanation. - Through the PI control (KP is a proportionality coefficient, KI is an integration coefficient, and l/s is an integration operator) on the deviation (torque deviation) ΔT of the control torque T from the command steering torque T*, the addition angle α is prepared. The present value θC(n) (θC(n)=θC(n−1)+α) of the control angle θc is obtained by adding the addition angle α to the immediately preceding value θC(n−1) of the control angle θC. At this time, the deviation of the actual rotor angle θM of the
rotor 50 from the control angle θC is used as the load angle θL (θL=θC−θM). - Therefore, if the γ-axis current Iγ is supplied to the γ-axis (imaginary axis) in the γδ coordinate system (imaginary rotating coordinate system), which rotates in accordance with the control angle θC, based on the γ-axis command current value Iγ*, the q-axis current Iq is equal to Iγ sin θL (Iq=Iγ sin θL). The q-axis current Iq contributes to generation of torque by the
rotor 50. That is, the value obtained by multiplying the q-axis current Iq (=Iγ sin θL) by the torque constant KT of themotor 3 is transmitted to thesteering mechanism 2 via thespeed reduction mechanism 7 as the assist torque TA (=KT×Iγ sin θL). The value obtained by subtracting the assist torque TA from a load torque from thesteering mechanism 2 is the steering torque that should be applied by the driver to thesteering wheel 10. When the steering torque is fed back through thesteering torque limiter 20 and the detected steeringtorque correction unit 40, a system is operated in such a manner that the steering torque is brought to the command steering torque T*. That is, the addition angle α is obtained and the control angle θC is controlled based on the addition angle α so that the control torque T coincides with the command steering torque T*. - The control angle θC is updated with the use of the addition angle α that is obtained based on the deviation ΔT of the control torque T from the command steering torque T* while an electric current is supplied to the γ-axis that is the imaginary axis used in the control. Thus, the load angle θL changes and therefore, the torque that corresponds to the load angle θL is generated by the
motor 3. Therefore, the torque that corresponds to the command steering torque T* set based on the steering angle and the vehicle speed is generated by themotor 3. Accordingly, an appropriate steering assist force that corresponds to the steering angle and the vehicle speed is applied to thesteering mechanism 2. That is, a steering assist control is executed in such a manner that the steering torque increases as the absolute value of the steering angle increases and the steering torque decreases as the vehicle speed increases. - Therefore, there is provided the electric power steering system in which an appropriate steering assist operation is executed by appropriately controlling the
motor 3 without using a rotational angle sensor. Thus, the configuration is simplified and cost is reduced.FIG. 8 is a flowchart for describing the function of theaddition angle limiter 24. Theaddition angle limiter 24 compares the addition angle α obtained by thePI control unit 23 with the upper limit UL (step (hereinafter, referred to as “S”) 1). When the addition angle α is larger than the upper limit UL (“YES” in S1), the upper limit UL is substituted for the addition angle α (S2). Thus, the upper limit UL (=+ωmax) is added to the control angle θC. - When the addition angle α obtained by the
PI control unit 23 is equal to or smaller than the upper limit UL (“NO” in S1), theaddition angle limiter 24 further compares the addition angle α with the lower limit LL (S3). When the addition angle α is smaller than the lower limit LL (“YES” in S3), the lower limit LL is substituted for the addition angle α (S4). Thus, the lower limit LL (=−ωmax) is added to the control angle θC. - When the addition angle α obtained by the
PI control unit 23 is equal to or larger than the lower limit LL and equal to or smaller than the upper limit UL (“NO” in S3), the addition angle α is added to the control angle θC without limitation. Therefore, theaddition angle limiter 24 limits the addition angle α to a value within the range between the upper limit UL and the lower limit LL so as to stabilize the control. More specifically, although the control state is unstable (assist force is unstable) when the electric current is low or when the control starts, the control is encouraged to move to the stable state. - In the embodiment described above, the detected steering
torque correction unit 40 is provided. When the absolute value |TL| of the detected steering torque TL is equal to or smaller than the predetermined value a (|TL|≦a), the detected steeringtorque correction unit 40 corrects the detected steering torque to 0. On the other hand, when the absolute value |TL| of the detected steering torque TL is larger than the predetermined value a (|TL|>a), the detected steeringtorque correction unit 40 outputs the detected steering torque TL without correction. If the detected steeringtorque correction unit 40 is not provided, the following problem may occur. When thesteering wheel 10 is in the neutral position, the detected steering angle detected by thesteering angle sensor 4 becomes 0. Therefore, the command steering torque T* set by the command steeringtorque setting unit 21 becomes 0 Nm as shown inFIG. 4 . In the case where the driver takes his/her hands off thesteering wheel 10 when thesteering wheel 10 is in a position near the neutral position, if the steering torque detected by thetorque sensor 1 has an error, the steering torque detected by thetorque sensor 1 does not become 0 Nm. Accordingly, the torque deviation ΔT calculated by the torquedeviation calculation unit 22 does not become 0. Therefore, the control angle θC changes. Then, the torque (assist torque) of themotor 3 changes, and therefore a steering force is supplied to thesteering mechanism 2. - That is, when the detected steering
torque correction unit 40 is not provided, if the driver takes his/her hands off thesteering wheel 10 when thesteering wheel 10 is in a position near the neutral position, self-steering may be performed, that is, the steered wheels may be steered by thesteering mechanism 2. In the embodiment described above, when the driver takes his/her hands off thesteering wheel 10 when thesteering wheel 10 is in a position near the neutral position, even if the detected steering torque detected by thetorque sensor 1 does not become 0 Nm, the detected steering torque detected by thetorque sensor 1 is corrected to 0 Nm by the detected steeringtorque correction unit 40. Thus, the torque deviation ΔT calculated by the torquedeviation calculation unit 22 becomes 0, and therefore, the control angle θC does not change. According to the embodiment described above, it is possible to prevent occurrence of self-steering when the driver takes his/her hands off thesteering wheel 10 when thesteering wheel 10 is in a position near the neutral position. - With the detected steering
torque correction unit 40, when the detected steering torque TL output from thetorque limiter 20 changes so as to exceed the predetermined value a or changes so as to fall below the predetermined value −a, the control torque T output from the detected steeringtorque correction unit 40 changes sharply, as shown inFIG. 6 . Then, the steering torque also changes sharply, which may deteriorate the steering feel. Therefore, a unit that has the input-output characteristics as shown inFIG. 9 may be used as the detected steeringtorque correction unit 40. More specifically, when the absolute value |TL| of the detected steering torque TL is equal to or smaller than the first predetermined value a (a>0) (|TL|≦a), the detected steeringtorque correction unit 40 corrects the detected steering torque TL to 0. When the detected steering torque TL is higher than the first predetermined value a and lower than the second predetermined value b that is higher than the first predetermined value a (b>a) (a<TL<b), the detected steeringtorque correction unit 40 corrects the detected steering torque TL in such a manner that the output value T smoothly increases (linearly changes in an example inFIG. 9 ) from a value near 0 as the detected steering torque TL becomes higher than the predetermined value a by a larger amount. When the detected steering torque TL is equal to or higher than the second predetermined value b, the detected steeringtorque correction unit 40 outputs the detected steering torque TL without correction. - When the detected steering torque TL is lower than the predetermined value −a and higher than the predetermined value −b (−b<TL<−a), the detected steering
torque correction unit 40 corrects the detected steering torque TL in such a manner that the output value T smoothly decreases from a value near 0 (linearly changes in the example inFIG. 9 ) as the detected steering torque TL becomes lower than the predetermined value −a by a larger amount. When the detected steering torque TL is equal to or lower than the predetermined value −b, the detected steeringtorque correction unit 40 outputs the detected steering torque TL without correction. - The first predetermined value a is set to, for example, a value within a range from 0.3 Nm to 0.5 Nm. The second predetermined value b is set to, for example, a value that is equal to or lower than the maximum torque that can be detected by the torque sensor 1 (the maximum torque immediately before the output from the
torque sensor 1 is saturated). More specifically, the second predetermined value b is set to a value equal to or lower than the above-described upper limit saturation value +Tmax (seeFIG. 5 ). - That is, the detected steering
torque correction unit 40 calculates the control torque T based on Equations 7-1 to 7-5. Note that, when the second predetermined value b is set to a value equal to the upper limited saturation value, correction based on Equations 7-3 to 7-5 is not required. -
If −a≦T L ≦a, then T=0 Equation 7-1 -
If a<T L <b, then T={b/(b−a)}×T L −{ab/(b−a)} Equation 7-2 -
If TL≧b, then T=TL Equation 7-3 -
If −b<T L <−a, then T={b/(b−a)}×T L +{ab/(b−a)} Equation 7-4 -
If T L ≦−b, then T=T L Equation 7-5 - More specifically, a map that corresponds to the input-output characteristics as shown in
FIG. 9 is prepared in advance according to Equations 7-1 to 7-5. The detected steeringtorque correction unit 40 corrects the detected steering torque based on the map. If the detected steeringtorque correction unit 40 is used, even if the detected steering torque TL output from thetorque limiter 20 changes so as to exceed the predetermined value a or changes so as to fall below the predetermined value −a, the control torque T calculated by the detected steeringtorque correction unit 40 smoothly changes. Therefore, the steering feel improves. In the example inFIG. 9 , the map is formed of functions that are continuous with each other at each point at which the absolute value of the detected steering torque TL is equal to the second predetermined value b. Alternatively, as shown inFIG. 10 , the map may be formed of functions that are not continuous with each other at each point at which the absolute value of the detected steering torque TL is equal to the second predetermined value b. - In the example in
FIG. 9 , when the detected steering torque TL is higher than the first predetermined value a and lower than the second predetermined value b (a<TL<b) or when the detected steering torque TL is lower than the predetermined value −a and higher than the predetermined value −b (−b<TL<−a), the input-output characteristics of the detected steeringtorque correction unit 40 changes in such a manner that the absolute value of the control torque T smoothly and linearly increases from a value near 0 as the absolute value of the detected steering torque TL increases. Alternatively, the input-output characteristics of the detected steeringtorque correction unit 40 may change in such a manner that the absolute value of the control torque T smoothly and non-linearly increases from a value near 0 as the absolute value of the detected steering torque TL increases. - While the embodiment of the invention has been described, the invention is not limited to the above-described embodiment and may be implemented in various other embodiments. For example, in the embodiment described above, the addition angle α is obtained by the
PI control unit 23. The addition angle α may be obtained by a PID (proportional-integral-differential) calculation unit instead of thePI control unit 23. In the embodiment described above, a rotational angle sensor is not provided and themotor 3 is driven by executing the sensorless control. Alternatively, a rotational angle sensor, for example, a resolver may be provided and the above-described sensorless control may be executed when the rotational angle sensor malfunctions. Thus, even if the rotational angle sensor malfunctions, driving of themotor 3 is continued. Therefore, the steering assist operation is continued. - In this case, when the rotational angle sensor is used, the δ-axis command current value Iδ* may be prepared by the command current
value preparation unit 30 based on the steering torque and the vehicle speed and according to the predetermined assist characteristics. In the embodiment described above, the invention is applied to the electric power steering system. Alternatively, the invention may be applied to a motor control for an electric pump hydraulic power steering system. Further alternatively, the invention may be implemented in various embodiments other than a control of a motor for an electric pump hydraulic power steering system and a power steering system. For example, the invention may be applied to a steer-by-wire (SBW) system, a variable gear ratio (VGR) steering system, and a control of a brushless motor provided in another type of vehicle steering system. The motor control unit according to the invention may be used in not only a control for the vehicle steering system but also controls for motors for other use. - In addition, various design changes may be made within the scope of claims.
Claims (7)
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JP2009258962A JP5532295B2 (en) | 2009-11-12 | 2009-11-12 | Motor control device and vehicle steering device |
JP2009-258962 | 2009-11-12 |
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US20110112724A1 true US20110112724A1 (en) | 2011-05-12 |
US8855858B2 US8855858B2 (en) | 2014-10-07 |
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US12/945,101 Expired - Fee Related US8855858B2 (en) | 2009-11-12 | 2010-11-12 | Motor control unit and vehicle steering system |
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EP (1) | EP2323250B1 (en) |
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US20130124046A1 (en) * | 2011-11-11 | 2013-05-16 | Volvo Car Corporation | Arrangement and method for safeguarding driver attentiveness |
CN106170432A (en) * | 2014-04-25 | 2016-11-30 | 三菱电机株式会社 | Steering control device and steering assistance method for controlling torque thereof |
CN107878554A (en) * | 2016-09-29 | 2018-04-06 | 株式会社电装 | Controller for motor and electric boosting steering system |
US20180205339A1 (en) * | 2017-01-19 | 2018-07-19 | Johnson Electric S.A. | Integrated electrical pump and oil pressure control method thereof |
CN110729933A (en) * | 2018-07-17 | 2020-01-24 | 中车株洲电力机车研究所有限公司 | Asynchronous modulation-based alternating current motor torque control method and system |
CN110962921A (en) * | 2018-09-28 | 2020-04-07 | 日本电产株式会社 | Steering control device and power steering device |
CN113382916A (en) * | 2019-02-14 | 2021-09-10 | 日立安斯泰莫株式会社 | Steering control device |
US20220097756A1 (en) * | 2020-09-25 | 2022-03-31 | Honda Motor Co., Ltd. | Electric power steering device |
US11472469B2 (en) * | 2018-12-05 | 2022-10-18 | Denso Corporation | Electric power steering device |
US11724738B2 (en) * | 2016-04-15 | 2023-08-15 | Jaguar Land Rover Limited | Vehicle steering system |
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JP2016215906A (en) | 2015-05-22 | 2016-12-22 | 株式会社ジェイテクト | Steering support device |
FR3037671B1 (en) * | 2015-06-19 | 2017-06-16 | Jtekt Europe Sas | USING A PHASE ADVANCE FILTER TO SEPARATE THE SPRING ADJUSTMENT FROM THE STEERING WHEEL ADJUSTING THE STABILITY OF AN ASSISTED STEERING CONTROL |
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US9199649B2 (en) * | 2011-11-11 | 2015-12-01 | Volvo Car Corporation | Arrangement and method for safeguarding driver attentiveness |
US20130124046A1 (en) * | 2011-11-11 | 2013-05-16 | Volvo Car Corporation | Arrangement and method for safeguarding driver attentiveness |
US10202146B2 (en) | 2014-04-25 | 2019-02-12 | Mitsubishi Electric Corporation | Steering control device and steering-assisting torque control method thereof |
CN106170432A (en) * | 2014-04-25 | 2016-11-30 | 三菱电机株式会社 | Steering control device and steering assistance method for controlling torque thereof |
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US11724738B2 (en) * | 2016-04-15 | 2023-08-15 | Jaguar Land Rover Limited | Vehicle steering system |
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US20180205339A1 (en) * | 2017-01-19 | 2018-07-19 | Johnson Electric S.A. | Integrated electrical pump and oil pressure control method thereof |
CN110729933A (en) * | 2018-07-17 | 2020-01-24 | 中车株洲电力机车研究所有限公司 | Asynchronous modulation-based alternating current motor torque control method and system |
CN110962921A (en) * | 2018-09-28 | 2020-04-07 | 日本电产株式会社 | Steering control device and power steering device |
US11472469B2 (en) * | 2018-12-05 | 2022-10-18 | Denso Corporation | Electric power steering device |
CN113382916A (en) * | 2019-02-14 | 2021-09-10 | 日立安斯泰莫株式会社 | Steering control device |
US20220097756A1 (en) * | 2020-09-25 | 2022-03-31 | Honda Motor Co., Ltd. | Electric power steering device |
US11834109B2 (en) * | 2020-09-25 | 2023-12-05 | Honda Motor Co., Ltd. | Electric power steering device |
Also Published As
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EP2323250A3 (en) | 2016-05-25 |
EP2323250B1 (en) | 2017-04-26 |
EP2323250A2 (en) | 2011-05-18 |
JP2011109733A (en) | 2011-06-02 |
JP5532295B2 (en) | 2014-06-25 |
US8855858B2 (en) | 2014-10-07 |
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